/*!
* \brief Parses a command
* \param cmd Command string to be parsed
* \param handled Sets this variable to TRUE if command was handled
* \param io I/O stream to be used for input/output
* \return Error code, ERR_OK if everything was fine
*/
uint8_t Q4CLeft_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io)
{
uint8_t res=ERR_OK;
if (UTIL1_strcmp((const char*)cmd, CLS1_CMD_HELP)==0 || UTIL1_strcmp((const char *)cmd, "Q4CLeft help")==0) {
CLS1_SendHelpStr((const unsigned char*)"Q4CLeft", (const unsigned char*)"Q4CLeft command group\r\n", io->stdOut);
CLS1_SendHelpStr((const unsigned char*)" help|status", (const unsigned char*)"Print help or status information\r\n", io->stdOut);
CLS1_SendHelpStr((const unsigned char*)" reset", (const unsigned char*)"Reset the current position counter\r\n", io->stdOut);
*handled = TRUE;
} else if (UTIL1_strcmp((const char*)cmd, CLS1_CMD_STATUS)==0 || UTIL1_strcmp((const char*)cmd, "Q4CLeft status")==0) {
CLS1_SendStr((const unsigned char*)"Q4CLeft:\r\n", io->stdOut);
CLS1_SendStatusStr((const unsigned char*)" pos", (const unsigned char*)"", io->stdOut);
#if Q4CLeft_CNTR_BITS==16
CLS1_SendNum16u(Q4CLeft_currPos, io->stdOut);
#elif Q4CLeft_CNTR_BITS==32
CLS1_SendNum32u(Q4CLeft_currPos, io->stdOut);
#else
#error "unknown counter size!"
#endif
CLS1_SendStr((const unsigned char*)", ", io->stdOut);
#if Q4CLeft_CNTR_BITS==16
CLS1_SendNum16s((int16_t)Q4CLeft_currPos, io->stdOut);
#elif Q4CLeft_CNTR_BITS==32
CLS1_SendNum32s((int32_t)Q4CLeft_currPos, io->stdOut);
#else
#error "unknown counter size!"
#endif
CLS1_SendStr((const unsigned char*)"\r\n", io->stdOut);
CLS1_SendStatusStr((const unsigned char*)" C1 C2", (const unsigned char*)"", io->stdOut);
if (Q4CLeft_GET_C1_PIN()!=0) {
CLS1_SendStr((const unsigned char*)"1 ", io->stdOut);
} else {
CLS1_SendStr((const unsigned char*)"0 ", io->stdOut);
}
if (Q4CLeft_GET_C2_PIN()!=0) {
CLS1_SendStr((const unsigned char*)"1\r\n", io->stdOut);
} else {
CLS1_SendStr((const unsigned char*)"0\r\n", io->stdOut);
}
CLS1_SendStatusStr((const unsigned char*)" errors", (const unsigned char*)"", io->stdOut);
CLS1_SendNum16u(Q4CLeft_nofErrors, io->stdOut);
CLS1_SendStr((const unsigned char*)"\r\n", io->stdOut);
*handled = TRUE;
} else if (UTIL1_strcmp((const char*)cmd, "Q4CLeft reset")==0) {
Q4CLeft_SetPos(0);
Q4CLeft_nofErrors = 0;
*handled = TRUE;
}
return res;
}
/**
* \brief Accel Task. Tests the acceleration sensor, by writing its accelvalues to the shell.
* @param AccelTask Taskname
* @param pvParameters Not used
* @return void
*/
static portTASK_FUNCTION(AccelTask, pvParameters) {
int16_t accel[] = {0,0,0};
uint8_t errCode;
(void)pvParameters;
ACCEL_Init();
if(ACCEL_CalibrateAxes()!= ERR_OK) {
for(;;) {} /* error occurred!*/
}
for(;;) {
WAIT1_WaitOSms(200);
errCode = ACCEL_GetXYZmg(accel);
if(errCode != ERR_OK) {
for(;;) {} /* error occurred!*/
}
CLS1_SendStr((const unsigned char*)"X: ",CLS1_GetStdio()->stdOut);
CLS1_SendNum16s(accel[0], CLS1_GetStdio()->stdOut);
CLS1_SendStr((const unsigned char*)"\tY: ",CLS1_GetStdio()->stdOut);
CLS1_SendNum16s(accel[1], CLS1_GetStdio()->stdOut);
CLS1_SendStr((const unsigned char*)"\tZ: ",CLS1_GetStdio()->stdOut);
CLS1_SendNum16s(accel[2], CLS1_GetStdio()->stdOut);
CLS1_SendStr((const unsigned char*)"\r\n",CLS1_GetStdio()->stdOut);
}
}
